Abstract

To solve the problem of obstacle avoidance for a mobile robot in unknown environment, a comprehensive obstacle avoidance system (called ATCM system) is developed. It integrates obstacle detection, obstacle classification, collision prediction and obstacle avoidance. Especially, an Adaptive-Threshold Clustering algorithm is developed to detect obstacles, and the Morphin algorithm is applied for path planning when the robot predicts a collision ahead. A dynamic circular window is set to continuously scan the surrounding environment of the robot during the task period. The simulation results show that the obstacle avoidance system enables robot to avoid any static and dynamic obstacles effectively.

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Acknowledgments

This work was supported by 2018 Natural Science Foundation of Anhui, China (1808085QF215), 2018 Foundation for Distinguished Young Talents in Higher Education of Anhui, China (gxyqZD2018050) and Anhui Key Research and Development Programs (Foreign Scientific and Technological Cooperation, 1804b06020375).